cmake_minimum_required(VERSION 2.8.3)
project(catvehicle)
SET( CMAKE_CXX_FLAGS "-std=c++11 -O3")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  controller_manager
  gazebo_ros_control
  geometry_msgs
  position_controllers
  roscpp
  rospy
  sensor_msgs
  sicktoolbox
  sicktoolbox_wrapper
  std_msgs
  tf
  transmission_interface
  velocity_controllers
  velodyne_pointcloud
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)

# Need to have these in order to find/include boost stuff
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})

include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
  pkg_check_modules(GAZEBO gazebo)
endif()
include_directories(${GAZEBO_INCLUDE_DIRS}
# ${catkin_INCLUDE_DIRS}
)
link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(include)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
catkin_python_setup()

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES catvehicle
  CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs velodyne_pointcloud tf
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include include/catvehicle)
include_directories(
  ${catkin_INCLUDE_DIRS}
)


add_library(catvehiclegazebo SHARED src/cont.cc ./include/catvehicle/cont.hh)
target_link_libraries(catvehiclegazebo ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable( distanceEstimator src/distanceEstimator.cpp )
target_link_libraries( distanceEstimator ${catkin_LIBRARIES} )

add_executable( distanceEstimatorSteeringBased src/distanceEstimatorSteeringBased.cpp )
target_link_libraries( distanceEstimatorSteeringBased ${catkin_LIBRARIES})

add_executable( velocityEstimator src/velocityEstimator.cpp )
target_link_libraries( velocityEstimator ${catkin_LIBRARIES} )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

# added for running the simulation details without need to have 
# the information locally sourced
install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY meshes
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY urdf
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY worlds
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

## Mark executables and/or libraries for installation
install(TARGETS catvehiclegazebo
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)


#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_catvehicle.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

